Extracting parallax data from only two photos to help reconstruct a 3D scene
Or you could try point cloud reconstruction software which are free to download using Visual SFM and Meshlab. There are a few tutorials on the subject on youtube. As the question you are asking will require substantial write up, it's best to point you to some tutorials.

I learn this in 3 hours last night. However you may need more than 2 images.

https://www.youtube.com/watch?v=D6eqW6yk50k